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29 December 2000 Structure analysis of natural scenes using census transform and region competition
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In this paper we propse an approach to generate a panorama depth map which is dense enough to be used as a template for cutting out a texture image by the depth, i.e. structuring the scene into layers to construct a shared 3-D image space. For depth estimation, we make use of census transform for robust determination of correspondence of a stereo pair. To interpolate unknown disparities, we introduced a process influenced by the K-means algorithm. For densification of the depth data, we make use of Region Competition. During the stitching, the confidence of the data is improved for the overlapped areas by multiple evaluation of the disparity data.
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Kunio Yamada, Tadashi Ichikawa, Takeshi Naemura, Kiyoharu Aizawa, and Takahiro Saito "Structure analysis of natural scenes using census transform and region competition", Proc. SPIE 4310, Visual Communications and Image Processing 2001, (29 December 2000);

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